CN110086973A - A kind of holder image stabilization system based on light stream camera - Google Patents
A kind of holder image stabilization system based on light stream camera Download PDFInfo
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- CN110086973A CN110086973A CN201910389043.6A CN201910389043A CN110086973A CN 110086973 A CN110086973 A CN 110086973A CN 201910389043 A CN201910389043 A CN 201910389043A CN 110086973 A CN110086973 A CN 110086973A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/683—Vibration or motion blur correction performed by a processor, e.g. controlling the readout of an image memory
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
A kind of holder image stabilization system based on light stream camera, the invention are a kind of systems that may be implemented to carry out high speed camera surely picture processing；It mainly include holder module, main camera model, light stream camera model and processing module.The holder image stabilization system detects the real time kinematics information of main camera model by light stream camera model and carries out motion filtering, is then carried out unstable sequence of video images by frame motion compensation according to motion information, to achieve the purpose that Video Stabilization.The present invention improves traditional heads image stabilization system, solves the problems, such as in practical application steady as precision is not high and slow-footed, meets surely as precision and requirement of real-time, and reduces costs and development difficulty.
Description
Technical field
The invention belongs to Video Stabilization fields, more specifically say, it is steady as system to be related to a kind of holder based on light stream camera
System.
Background technique
The instability of sequence of video images caused by being moved due to platform, seriously affects the acquisition video matter of camera system
Amount is unfavorable for the operations such as subsequent video processing and target identification；In order to eliminate video jitter and improve image quality, side is commonly used
Method is to realize that mechanical steady picture is realized in the motion compensation to camera system by holder image stabilization system.Holder image stabilization system is usual
It is made of driving plate, motor and Inertial Measurement Unit；Apply the picture pick-up device in vehicle-mounted, boat-carrying or hand-held camera system logical
It is often placed on holder image stabilization system, holder is by fixed Inertial Measurement Unit real-time detection as caused by environment shake
Attitudes vibration information, and camera shooting posture regulator control system is fed back to, then the mechanical equipments such as driving motor come again after amplification
The position of camera system is adjusted to compensate the movement of camera system, to achieve the purpose that stable sequence of video images, but is passed
The holder image stabilization system based on mechanical steady picture of uniting can only often compensate the image rotation amount due to caused by rotary motion, and can not have
Image shift amount caused by effect compensation translational motion.
With the miniaturization of camera system and surely as the continuous improvement of required precision, simple holder image stabilization system is easy
By the restriction of intrinsic mechanical resonant frequency, make it difficult to further increase steady as precision；Although utilizing fast mirror structure
The limitation of mechanical resonant can be broken through, but increases the complexity and operating cost of structure.Furthermore mechanical movement side is applied
The usually steady picture speed of the holder image stabilization system of formula progress motion compensation is slower, is not suitable for high speed camera surely picture environment, higher
Surely as precision and surely as speed often requires the hardware configuration of holder higher, consequent is operating cost and development difficulty
Increase, become limitation holder image stabilization system application technical bottleneck.
Summary of the invention
Technology of the invention solves the problems, such as: devise a kind of holder image stabilization system based on light stream camera, solve by
The unstable problem of the sequence of video images caused by camera system is shaken.
The technical solution of the invention is as follows: a kind of holder image stabilization system based on light stream camera, it is characterised in that: packet
It includes:
Holder module: being mainly made of driving plate, motor and Inertial Measurement Unit, is loaded with light stream camera model and main phase machine
Module realizes mechanical steady picture by measuring the wobble information of ambient enviroment and controlling motor；
Main camera model: positioned at the top of holder module, using short focus optical texture camera lens, for being carried out to ambient enviroment
Optical imagery, ambient image information needed for obtaining；
Light stream camera model: positioned at the top of holder module, using focal length optical texture camera lens, for acquiring continuous multiple frames
Real-time motion pictures sequence, and M frame image is obtained relative to previous frame image along the real-time pixel of two axis by analytical calculation
Offset (εx(M),εy(M))；
Processing module: the image sequence of main camera model acquisition and the real-time pixel offset of light stream camera model output are received
Measure (εx(M),εy(M)), and the cumulative calibration principle of application determines main camera model nth frame image collected relative to upper one
Total pixel-shift amount (S of the frame image along two axisx(N),Sy(N)), data processor is then executed to realize motion filtering and obtain
Main camera model nth frame image collected for steady picture relative between previous frame image along two dither axis pixel-shift amounts
(ex(N),ey(N)) motion compensation, Jin Ershi finally, are carried out to unstable sequence of video images using the shake pixel-shift amount
Now steady picture.
Wherein, the holder image stabilization system can compensate the image rotation due to caused by camera rotary motion, can also compensate
Image shift amount, overcome traditional heads image stabilization system can not effective compensation image shift amount the problem of；The holder is surely as system
System is using light stream camera model as motion information capturing devices；
Wherein, the main camera model and light stream camera model are rigidly connected and are fixed in holder module, i.e. the two tool
Have a fixed spatial relation, so by light stream camera model measure along two axis real-time pixel offset (εx(M),εy
(M)) main camera model nth frame image collected can be extrapolated relative to total pixel-shift between previous frame image along two axis
Measure (Sx(N),Sy(N))；
Wherein, the acquisition frame rate of the light stream camera model will be significantly larger than main camera model, acquire in main camera model
When adjacent two field pictures, light stream camera model completes multiple Image Acquisition and offset calculates, and adds up to the offset
Sum and multiplied by the proportionality coefficient determined by calibration principle can total pixel-shift amount between the adjacent two field pictures of winner's camera model,
Its principle calculation formula are as follows:
M in formula2And M1Main camera model is respectively indicated when acquiring n frame and n-i frame image, corresponding light stream phase
The acquisition frame number of machine module；K indicates the proportionality coefficient between the two pixel-shift amounts determined by calibration principle；
Wherein, total pixel-shift amount (Sx(N),SyIt (N)) include main camera model main fortune due to caused by active movement
Dynamic pixel-shift amount (Ex(N),Ey(N)) and as caused by environment shake pixel-shift amount (e is shakenx(N),ey(N))；Pass through
Method based on Gaussian function fitting obtains main motion pixel-shift amount and then calculates shake pixel-shift amount:
(ex(N),ey(N))=(Sx(N),Sy(N))-(Ex(N),Ey(N))
The processing module is according to shake pixel-shift amount (ex(N),ey(N)) collected to main camera model unstable
Image sequence is carried out by frame motion compensation and correction, and then realizes steady picture.
The principle of the present invention is: light stream camera model use focal length optical texture camera lens, object space resolution ratio with higher,
By obtaining continuous multiple frames real-time motion pictures sequence to environment information acquisition, adjacent two field pictures sequence is obtained after analytical calculation
Along the real-time pixel offset of two axis.The acquisition frame rate of light stream camera model will be significantly larger than main camera model, in main phase machine mould
When block acquires adjacent two field pictures, light stream camera model completes multiple Image Acquisition and offset and calculates, to the offset into
The cumulative summation of row and multiplied by the proportionality coefficient determined by calibration principle can winner's camera model acquire between adjacent two field pictures
Total pixel-shift amount.Then processing module realizes the main fortune due to caused by active movement by the method based on Gaussian function fitting
The separation of dynamic pixel-shift amount and both shake pixel-shift amounts as caused by environment shake.Last processing module is according to shake
Pixel-shift amount unstable image sequence collected to main camera model is carried out by frame motion compensation and correction, and then is realized steady
Picture.
The advantages of present invention is compared with existing traditional heads image stabilization system is: present invention application light stream camera model conduct
Motion information acquisition device realizes the improvement to traditional heads image stabilization system, and acquisition speed is reached as high as 400 times per second and acquired
Precision is high, the real-time steady picture especially suitable for high speed camera；Processing module is according to real time kinematics information to unstable video figure
As sequence is carried out by frame motion compensation and correction, and then stable sequence of video images is exported, it is steady as effect is good；In addition, the cloud
Platform image stabilization system can compensate the image rotation due to caused by camera rotary motion, can also compensate image shift amount, overcome biography
Unite holder image stabilization system can not effective compensation image shift amount the problem of.The present invention reduces cloud by simple system structure
Requirement of the platform image stabilization system when accuracy and speed requires to improve to structural behaviour, ensure that picture pick-up device is right in practical applications
The requirement of the steady picture of high-precision high-speed.
Detailed description of the invention
In order to illustrate more clearly of the present invention, attached drawing needed in system schema description will be made below simple
Ground introduction, it is therefore apparent that the accompanying drawings in the following description is only a kind of embodiment of the invention:
Fig. 1 is the structural block diagram of holder image stabilization system of the present invention；
Fig. 2 is the process flow about the holder image stabilization system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole narration, so that those skilled in the art more fully understands the present invention.Obviously, described embodiment is only the present invention
A kind of exemplary embodiments, instead of all the embodiments.Based on the embodiments of the present invention or its principle, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Present description provides a kind of exemplary embodiments, and specific block diagram is as shown in Fig. 1, and the present invention is by holder mould
Block (101), main camera model (102), light stream camera model (103) and processing module (104) composition.
The specific process flow of the present embodiment is as shown in Fig. 2, and light stream camera model (103) uses focal length optical texture mirror
Head, object space resolution ratio with higher obtain continuous multiple frames real-time motion pictures sequence by the acquisition to environmental information, and divide
Analysis, which calculates, obtains adjacent two field pictures sequence along the real-time pixel offset (201) of two axis.Main camera model (102) uses short focus
Optical texture camera lens, and the video image acquisition (201) by ambient enviroment being imaged realization environmental information.Additionally due to light stream
The acquisition frame rate of camera model (103) will be significantly larger than main camera model (102), in the adjacent of main camera model (102) acquisition
Between two field pictures, light stream camera model (103) complete multiple image acquisition and offset calculate, so to the offset into
Row it is cumulative can winner's camera model (102) when acquiring adjacent two images, correspond light stream camera model between the moment
(103) accumulative real-time pixel offset (202).In addition, light stream camera model (103) and main camera model (102) rigidly connect
Connect, the two has fixed spatial relation and identical forms of motion, so light stream camera model (103) measure it is real-time
Both total pixel-shift amounts between pixel-shift amount and the adjacent two field pictures of main camera model (102) are in fixed proportion relationship, are led to
It crosses to calibrate two cameras and can obtain relevant proportionality coefficient (202).Holder image stabilization system may only usually compensate rotation in practice
Transhipment is dynamic, so the biggest impact factor for causing the mechanical sequence of video images surely as after of holder unstable is main camera model
Offset movement, so being believed using real time kinematics offset can be obtained with the rigidly connected light stream camera model of main camera model
Breath.
In order to obtain the real-time pixel offset and main camera model (102) adjacent two that light stream camera model (103) is measured
The proportionate relationship between total pixel-shift amount between frame image is determined by placing gridiron pattern in front of two camera imaging optical paths
Mark operation can obtain the pixel ratio under corresponding equal length according to two camera acquired images, and then obtain related ratio
Coefficient.
In practical applications, the forms of motion of main camera model (102) includes that artificial or vehicle equipment is specified in order to acquire
Environmental information and made active movement form, also comprising the shake pixel-shift amount due to caused by environment shake.The area of the two
It is not that active movement form usually has well-regulated curve movement, and environment shake usually has randomness and spike.Place
It manages module (104) and draws out scatter plot according to total pixel-shift amount data of main camera model (102), then utilize Gaussian function
It is fitted to obtain main motion pixel-shift amount curve, and then realizes the main motion pixel-shift amount due to caused by active movement
With shaken as environment caused by shake both pixel-shift amount separation (203).Last processing module (104) is according to shake picture
Plain offset carries out by the motion compensation of frame opposite direction and correction main camera model (102) unstable image sequence collected
(204), it and then exports stable sequence of video images and realizes surely as (205).
Detailed elaboration has been carried out in conjunction with principle and specific embodiment of the attached drawing to the system in text.In addition, for this
The those skilled in the art in field, according to the thought of the present invention, there will be changes in the specific implementation manner and application range.
In conclusion the contents of this specification are not to be construed as limiting the invention, all utilize the application and invention of inventive concept
It creates in the column of protection.
Claims (5)
1. a kind of holder image stabilization system based on light stream camera, it is characterised in that: include:
Holder module: being mainly made of driving plate, motor and Inertial Measurement Unit, is loaded with light stream camera model and main phase machine mould
Block realizes mechanical steady picture by measuring the wobble information of ambient enviroment and controlling motor；
Main camera model: positioned at the top of holder module, using short focus optical texture camera lens, for carrying out optics to ambient enviroment
Imaging, ambient image information needed for obtaining；
Light stream camera model: real-time for acquiring continuous multiple frames using focal length optical texture camera lens positioned at the top of holder module
Motion image sequence, and real-time pixel of the M frame image relative to previous frame image along two axis is obtained by analytical calculation and is deviated
Measure (εx(M),εy(M))；
Processing module: the image sequence of main camera model acquisition and the real-time pixel offset (ε of light stream camera model output are receivedx
(M),εy(M)), and the cumulative calibration principle of application determines main camera model nth frame image collected relative to previous frame figure
As total pixel-shift amount (S along two axisx(N),Sy(N)), data processor is then executed to realize motion filtering and be used for
The main camera model nth frame image collected of steady picture relative between previous frame image along two dither axis pixel-shift amount (ex
(N),ey(N)) motion compensation finally, is carried out to unstable sequence of video images using the shake pixel-shift amount, and then is realized
Steady picture.
2. a kind of holder image stabilization system based on light stream camera according to claim 1, it is characterised in that:
The holder image stabilization system can compensate the image rotation due to caused by camera rotary motion, can also compensate image shift
Amount, overcome traditional heads image stabilization system can not effective compensation image shift amount the problem of；The holder image stabilization system uses light
Camera model is flowed as motion information capturing devices.
3. a kind of holder image stabilization system based on light stream camera according to claim 1, it is characterised in that:
The main camera model and light stream camera model are rigidly connected and are fixed in holder module, i.e., the two has fixed sky
Between positional relationship, and then by light stream camera model measure along two axis real-time pixel offset (εx(M),εy(M)) it can calculate
Main camera model nth frame image collected is relative to total pixel-shift amount (S between previous frame image along two axis outx(N),Sy
(N))。
4. total pixel-shift amount (S according to claim 3x(N),Sy(N)) calculating, it is characterised in that:
The acquisition frame rate of the light stream camera model will be significantly larger than main camera model, acquire adjacent two frames figure in main camera model
When picture, light stream camera model completes multiple Image Acquisition and offset and calculates, to the offset carry out cumulative summation and multiplied by
The proportionality coefficient determined by calibration principle can total pixel-shift amount between the adjacent two field pictures of winner's camera model, principle calculates
Formula are as follows:
M in formula2And M1Main camera model is respectively indicated when acquiring n frame and n-i frame image, corresponding light stream camera mould
The acquisition frame number of block；K indicates the proportionality coefficient between the two pixel-shift amounts determined by calibration principle.
5. a kind of holder image stabilization system based on light stream camera according to claim 1, it is characterised in that:
Total pixel-shift amount (Sx(N),Sy(N)) inclined comprising main camera model main motion pixel due to caused by active movement
Shifting amount (Ex(N),Ey(N)) and as caused by environment shake pixel-shift amount (e is shakenx(N),ey(N))；By being based on Gauss
The method of Function Fitting obtains main motion pixel-shift amount and then calculates shake pixel-shift amount:
(ex(N),ey(N))=(Sx(N),Sy(N))-(Ex(N),Ey(N))
The processing module is according to shake pixel-shift amount (ex(N),ey(N)) unstable image collected to main camera model
Sequence is carried out by frame motion compensation and correction, and then realizes steady picture.
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